Vehicular display control device, vehicular display device, vehicle, vehicular display control method, and non-transitory recording medium

ABSTRACT

In cases in which an other vehicle traveling along an adjacent lane, which is adjacent to a travel lane of a host vehicle is executing a cut-in operation to move from the adjacent lane to a cut-in position ahead of the host vehicle in the travel lane, a processor controls a display section configured to display a travel lane image representing the travel lane, an adjacent lane image representing the adjacent lane, a lane boundary line image representing a lane boundary line defining a boundary between the travel lane and the adjacent lane, and an other vehicle image representing the other vehicle, such that the display section causes the other vehicle image to move in a discontinuous manner from a first position on the adjacent lane image to a second position on the lane boundary line image.

CROSS-REFERENCE TO RELATED APPLICATION

This application is based on and claims priority under 35 USC 119 fromJapanese Patent Application No. 2021-156126 filed on Sep. 24, 2021, thedisclosure of which is incorporated by reference herein.

BACKGROUND Technical Field

The present disclosure relates to a vehicular display control device, avehicular display device, a vehicle, a vehicular display control method,and a non-transitory recording medium.

Related Art

Japanese Patent Application Laid-Open (JP-A) No. 2021-37895 discloses aninvention in which, in cases in which another vehicle traveling along anadjacent lane adjacent to a travel lane along which a vehicle istraveling might cut into this travel lane, an envisaged traveltrajectory of this other vehicle is displayed on a head-up display.

There is room for improvement in the invention of JP-A No. 2021-37895regarding making it easier for a driver to identify the cut-in operationthat the other vehicle traveling along the adjacent lane is executing.

In consideration of the above circumstances, an object of the presentdisclosure is to obtain a vehicular display control device, a vehiculardisplay device, a vehicle, a vehicular display control method, and anon-transitory recording medium that make it easier for a driver toidentify a cut-in operation that another vehicle traveling along anadjacent lane is executing.

SUMMARY

A vehicular display control device according to a first aspect of thepresent disclosure includes a processor. In cases in which an othervehicle traveling along an adjacent lane, which is adjacent to a travellane that is a lane of travel of an host vehicle is executing a cut-inoperation to move from the adjacent lane to a cut-in position ahead ofthe host vehicle on the travel lane, the processor is configured tocontrol a display section configured to display a travel lane imagerepresenting the travel lane, an adjacent lane image representing theadjacent lane, a lane boundary line image representing a lane boundaryline defining a boundary between the travel lane and the adjacent lane,and an other vehicle image representing the other vehicle, such that thedisplay section causes the other vehicle image to move in adiscontinuous manner from a first position on the adjacent lane image toa second position on the lane boundary line image.

In the vehicular display control device according to the first aspect ofthe present disclosure, in cases in which the other vehicle travelingalong the adjacent lane adjacent to the travel lane of the host vehicleis executing a cut-in operation to move from the adjacent lane to acut-in position on the travel lane, the display section under thecontrol of the processor performs display such that the other vehicleimage representing the other vehicle is moved in a discontinuous mannerfrom the first position on the adjacent lane image representing theadjacent lane to the second position on the lane boundary line imagerepresenting the lane boundary line defining the boundary between thetravel lane and the adjacent lane. It is therefore easy for a driverviewing the other vehicle image to identify that the other vehicletraveling along the adjacent lane is executing a cut-in operation.Namely, it is easier for the driver viewing the other vehicle image toidentify that the other vehicle traveling along the adjacent lane isexecuting a cut-in operation than for example cases in which the othervehicle image is displayed so as to move in a continuous manner from thefirst position to the second position.

A vehicular display control device according to a second aspect of thepresent disclosure is the first aspect of the present disclosure,wherein the processor is configured to control the display section whenthe other vehicle is executing the cut-in operation such that the othervehicle image moves in a discontinuous manner from the second positionto a third position corresponding to the cut-in position on the travellane image.

In the second aspect of the present disclosure, the display sectionperforms display under the control of the processor when the othervehicle is executing the cut-in operation, such that the other vehicleimage moves in a discontinuous manner from the second position to thethird position corresponding to the cut-in position on the travel laneimage. It is therefore easy for the driver viewing the other vehicleimage to identify that the other vehicle is executing a cut-inoperation. Namely, it is easier for the driver viewing the other vehicleimage to identify that the other vehicle is executing a cut-in operationthan for example cases in which the other vehicle image is displayed soas to move in a continuous manner from the second position to the thirdposition.

A vehicular display control device according to a third aspect of thepresent disclosure is the first aspect of the present disclosure,wherein the processor is configured to cause the display section todisplay the other vehicle image in cases in which a determination ismade that the other vehicle might execute the cut-in operation based onbehavior of the other vehicle traveling along the adjacent lane.

In the third aspect of the present disclosure, the processor causes thedisplay section to display the other vehicle image in cases in which adetermination is made that the other vehicle might execute the cut-inoperation based on the behavior of the other vehicle traveling along theadjacent lane. Since only the other vehicle image corresponding to theother vehicle that the processor has determined might execute the cut-inoperation is displayed on the display section, this is less likely toannoy the driver than cases in which other vehicle images representingall the other vehicles traveling along the adjacent lane are displayedon the display section.

A vehicular display control device according to a fourth aspect of thepresent disclosure is the first aspect of the present disclosure,wherein the processor is configured to control the display section so asto display the other vehicle image representing the other vehiclelocated on the adjacent lane and ahead of the host vehicle at one of aplurality of positions arranged in a row along a front-rear direction onthe adjacent lane image.

In the fourth aspect of the present disclosure, the other vehicle imagerepresenting the other vehicle located on the adjacent lane and ahead ofthe host vehicle is displayed at one of a plurality of positionsarranged in a row along the front-rear direction on the adjacent laneimage. The driver viewing the other vehicle image is therefore able toidentify the front-rear direction position of the other vehicle imagerepresenting the other vehicle that might execute the cut-in operation.

A vehicular display control device according to a fifth aspect of thepresent disclosure is the fourth aspect of the present disclosure,wherein in a case in which the other vehicle image is located at aspecific position rearward of a predetermined position among the pluralpositions and is located at least at one of the first position or thesecond position, the processor is configured to control the displaysection such that the other vehicle image located at the specificposition is displayed in a different format than in cases in which theother vehicle image is located at a different position from the specificposition.

In the fifth aspect of the present disclosure, in a case in which theother vehicle image is located at the specific position rearward of thepredetermined position among the plural positions and is located atleast at one position out of the first position or the second position,the other vehicle image located at the specific position is displayed ina different format from in a case in which the other vehicle image islocated at a different position from the specific position. In suchcases, there is only a short front-rear direction distance between theother vehicle corresponding to the other vehicle image and the hostvehicle, and so sufficient attention needs to be paid to the cut-inoperation by this other vehicle. Since the other vehicle imagecorresponding to the other vehicle is displayed in such a format, thedriver viewing the other vehicle image is able to pay sufficientattention to this cut-in operation by the other vehicle.

A vehicular display control device according to a sixth aspect of thepresent disclosure is the first aspect of the present disclosure,wherein in cases in which a determination is made that the other vehiclemoving from the adjacent lane to the travel lane is a preceding vehiclefrom the perspective of the host vehicle while executing trackingcontrol, the processor is configured to control the display section suchthat the other vehicle image representing the other vehicle determinedto be the preceding vehicle is displayed in a different format from theother vehicle image in cases in which the other vehicle has not beendetermined to be the preceding vehicle.

In the sixth aspect of the present disclosure, in cases in which theprocessor has determined that the other vehicle moving from the adjacentlane to the travel lane is the preceding vehicle from the perspective ofthe host vehicle while executing tracking control, the display sectiondisplays the other vehicle image representing the other vehicledetermined to be the preceding vehicle in a different format from theother vehicle image in cases in which the other vehicle has not beendetermined to be the preceding vehicle. The driver viewing the othervehicle image is thereby able to identify whether or not the othervehicle corresponding to the other vehicle image is the precedingvehicle from the perspective of the host vehicle.

A vehicular display device according to a seventh aspect of the presentdisclosure includes a display section, and the vehicular display controldevice of the first aspect to the sixth aspect of the presentdisclosure.

A vehicle according to an eighth aspect of the present disclosureincludes the vehicular display device according to the seventh aspect ofthe present disclosure.

In a vehicular display control method according to a ninth aspect of thepresent disclosure, in a case in which an other vehicle traveling alongan adjacent lane, which is adjacent to a travel lane of a host vehicleis executing a cut-in operation to move from the adjacent lane to acut-in position ahead of the host vehicle on the travel lane, aprocessor is configured to control a display section configured todisplay a travel lane image representing the travel lane, an adjacentlane image representing the adjacent lane, a lane boundary line imagerepresenting a lane boundary line defining a boundary between the travellane and the adjacent lane, and an other vehicle image representing theother vehicle, such that the display section causes the other vehicleimage to move in a discontinuous manner from a first position on theadjacent lane image to a second position on the lane boundary lineimage.

A non-transitory recording medium storing a program that is executableby a computer to execute processing, the processing including, in a casein which an other vehicle traveling along an adjacent lane, which isadjacent to a travel lane of an host vehicle is executing a cut-inoperation to move from the adjacent lane to a cut-in position ahead ofthe host vehicle on the travel lane, controlling a display sectioncapable of displaying a travel lane image representing the travel lane,an adjacent lane image representing the adjacent lane, a lane boundaryline image representing a lane boundary line defining a boundary betweenthe travel lane and the adjacent lane, and an other vehicle imagerepresenting the other vehicle, such that the display section causes theother vehicle image to move in a discontinuous manner from a firstposition on the adjacent lane image to a second position on the laneboundary line image.

As described above, the vehicular display control device, the vehiculardisplay device, the vehicle, the vehicular display control method, andthe non-transitory recording medium according to the present disclosureexhibit an excellent advantageous effect of making it easier for thedriver to identify the cut-in operation that the other vehicle travelingalong the adjacent lane is executing.

BRIEF DESCRIPTION OF THE DRAWINGS

Exemplary embodiments of the present invention will be described indetail based on the following figures, wherein:

FIG. 1 is a diagram illustrating an interior of a vehicle equipped witha vehicular display control device according to an exemplary embodiment;

FIG. 2 is a diagram illustrating a hardware configuration of the vehicleillustrated in FIG. 1 ;

FIG. 3 is a functional block diagram of a display control ECU of thevehicle;

FIG. 4 is a functional block diagram of an ADAS-ECU of the vehicle;

FIG. 5 is a schematic diagram illustrating an image formed on a displayand a display region;

FIG. 6 is a similar schematic diagram to FIG. 5 , illustrating a statewhen other vehicles have moved to second positions;

FIG. 7 is a similar schematic diagram to FIG. 5 , illustrating a statewhen other vehicles have moved to a third position; and

FIG. 8 is a flowchart illustrating processing executed by the displaycontrol ECU of the vehicle.

DETAILED DESCRIPTION

Explanation follows regarding an exemplary embodiment of a vehiculardisplay control device, a vehicular display device, a vehicle 10, avehicular display control method, and a non-transitory recording mediumaccording to the present disclosure, with reference to the drawings.

As illustrated in FIG. 1 , the vehicle (host vehicle) 10 of the presentexemplary embodiment is equipped with a front windshield 14 and aninstrument panel 16. A display (display section; vehicular displaydevice) 18 and a driving assistance switch 24 are provided on theinstrument panel 16. A sensor group 20 is provided at an upper portionof a vehicle inside face of the front windshield 14. The sensor group 20includes at least one out of a camera, a laser imaging detection andranging (LIDAR) sensor, a locator camera, or a millimeter-wave radarsensor. The driving assistance switch 24 is a switch for causing thevehicle 10 to execute driving assistance control, described later.

As illustrated in FIG. 2 , in addition to the display 18, the sensorgroup 20, and the driving assistance switch 24, the vehicle 10 includesas hardware configuration a display control ECU (vehicular displaycontrol device) 26, a head-up display (hereafter HUD; display section;vehicular display device) 28, a car navigation ECU 32, a GPS device 34,and an ADAS-ECU 36.

The display control ECU 26 is configured including a central processingunit (CPU; processor) 26A, read only memory (ROM; non-transitoryrecording medium) 26B, random access memory (RAM) 26C, storage(non-transitory recording medium) 26D, a wireless communicationinterface (I/F) 26E, a vehicle internal communication I/F 26F, and aninput/output I/F 26G. The CPU 26A, the ROM 26B, the RAM 26C, the storage26D, the wireless communication I/F 26E, the vehicle internalcommunication I/F 26F, and the input/output I/F 26G are connected so asto be capable of communicating with one another through an internal bus26Z.

The CPU 26A is a central processing unit that executes various programsand controls respective sections. The CPU 26A reads programs from theROM 26B or the storage 26D and executes the programs using the RAM 26Cas workspace. The CPU 26A controls the respective configuration elementsand performs various arithmetical processing according to the programsrecorded in the ROM 26B or the storage 26D.

The ROM 26B holds various programs and various data. The RAM 26C servesas workspace that temporarily stores programs or data. The storage 26Dis configured by a storage device such as a hard disk drive (HDD) or asolid state drive (SSD), and holds various programs and various data.

The wireless communication I/F 26E is an interface for performingwireless communication with various equipment. For example, the wirelesscommunication I/F 26E is capable of performing wireless communicationwith wireless communication equipment of other vehicles 70A, 70B,described later. The wireless communication I/F 26E employs acommunication standard such as Bluetooth (registered trademark) andWi-Fi (registered trademark).

The vehicle internal communication I/F 26F is an interface forconnecting to the car navigation ECU 32 and the ADAS-ECU 36 through anexternal bus 26H. This interface for example employs a communicationstandard using a CAN protocol.

The input/output I/F 26G is an interface for performing communicationbetween the display 18 and the HUD 28.

FIG. 3 is a block diagram illustrating an example of functionalconfiguration of the display control ECU 26. The display control ECU 26includes a display control section 261 and a communication controlsection 262 as functional configuration. The display control section 261and the communication control section 262 are implemented by the CPU 26Areading and executing a program stored in the ROM 26B.

The display control section 261 controls the display 18 and the HUD 28,as described later.

The communication control section 262 controls the wirelesscommunication I/F 26E and the vehicle internal communication I/F 26F.

The HUD 28 includes a projection device 30. Images projected from theprojection device 30 are reflected toward the front using a mirror (notillustrated in the drawings), such that various images are displayed ona display region HA (see FIG. 1 ) formed on the front windshield 14.

Both the car navigation ECU 32 and the ADAS-ECU 36 are configuredincluding a CPU (processor), ROM, RAM, storage, a wireless communicationI/F, a vehicle internal communication I/F, and an input/output I/F. TheCPU, the ROM, the RAM, the storage, the wireless communication I/F, thevehicle internal communication I/F, and the input/output I/F areconnected so as to be capable of communicating with one another throughan internal bus.

The car navigation ECU 32 controls a car navigation system. Map data isrecorded in the ROM or storage of the car navigation ECU 32. The GPSdevice 34 is connected to the car navigation ECU 32. The GPS device 34includes a GPS antenna (not illustrated in the drawings) that receivessignals from GPS satellites.

The sensor group 20 and the driving assistance switch 24 are connectedto the ADAS-ECU 36. The ADAS-ECU 36 is also connected to variousactuators for driving a brake device, a steering device, and an internalcombustion engine (drive source). The ADAS-ECU 36 may also be connectedto an electric motor (drive source).

FIG. 4 is a block diagram illustrating an example of the ADAS-ECU 36.The ADAS-ECU 36 includes a driving assistance control section 361 and acut-in determination section 362 as functional configuration. Thedriving assistance control section 361 and the cut-in determinationsection 362 are implemented by the CPU reading and executing a programstored in the ROM.

The driving assistance control section 361 includes functionality toexecute driving assistance control of the vehicle 10 by controlling theabove-mentioned actuator group (and the electric motor). In the presentspecification, “driving assistance control” includes the drivingassistance control of level 1 to level 5 automation in the drivingautomation scale as defined by the Society of Automotive Engineers(SAE). The driving assistance control includes, for example, adaptivecruise control (ACC) and cooperative adaptive cruise control (CACC). Aninitial state of the driving assistance switch 24 is an OFF state. Thevehicle 10 is able to execute driving assistance control when thedriving assistance switch 24 has been set to an ON state. An occupantcan cause the vehicle 10 to execute driving assistance control at adesired level out of the level 1 to level 5 automation in the drivingautomation scale by operating the driving assistance switch 24 when inthe ON state.

The driving assistance control section 361 also determines whether ornot a vehicle traveling ahead of the vehicle 10 corresponds to apreceding vehicle while executing tracking control (ACC or CACC). Whenthe driving assistance control section 361 has caused the brake deviceto operate automatically while executing tracking control, asillustrated in FIG. 1 , the display 18 displays an image 18A indicatingthis brake operation.

The cut-in determination section 362 includes functionality to determinewhether or not any other vehicles 70A, 70B are present in any laneincluded in a road 60 (see FIG. 1 ) along which the vehicle 10 istraveling, based on information acquired by the sensor group 20. Thecut-in determination section 362 also computes a lane width directionposition and a lane extension direction position of each other vehicle70A, 70B based on the information acquired by the sensor group 20.

The cut-in determination section 362 also includes functionality todetermine whether or not either of the other vehicles 70A, 70B (see FIG.1 ) traveling along adjacent lanes 62A, 62B (see FIG. 1 ) adjacent to atravel lane 61 along which the vehicle 10 is traveling (see FIG. 1 )might execute a cut-in operation in which the other vehicle 70A, 70Bmoves to a cut-in position that is a region of the travel lane 61 aheadof the vehicle 10, and whether or not the other vehicle 70A, 70B isexecuting such a cut-in operation, based on the information acquired bythe sensor group 20. Note that the cut-in determination section 362 mayperform this determination based on determination logic disclosed inJP-A No. 2021-37895.

The ADAS-ECU 36 transmits information relating to driving assistancecontrol selected using the driving assistance switch 24 to the displaycontrol ECU 26.

Next, explanation follows regarding an image displayed on the display 18and the display region HA, with reference to FIG. 5 to FIG. 7 . Notethat the image illustrated in FIG. 5 to FIG. 7 is an image thatschematically represents a scene that is visually identifiable by adriver D (see FIG. 1 ) of the vehicle 10. Note that for convenience, thescene (image) depicts an image viewed from a higher position than theeyes of the driver D.

A road image 40 illustrated in FIG. 5 to FIG. 7 is displayed on thedisplay 18 and the display region HA. In FIG. 5 to FIG. 7 , the arrow DRindicates rearward of the vehicle 10, and the arrow DF indicates aheadof the vehicle 10 (the direction of progress). The road image 40 is animage that is based on the map data recorded in the storage of the carnavigation ECU 32. For example, as illustrated in FIG. 1 , in cases inwhich the road 60 along which the vehicle 10 is currently travelingincludes the travel lane 61 and the two adjacent lanes 62A, 62B adjacentto the travel lane 61, the road image 40 includes a travel lane image 41and two adjacent lane images 42A, 42B. The travel lane image 41 is animage corresponding to the travel lane 61, the adjacent lane image 42Ais an image corresponding to the adjacent lane 62A, and the adjacentlane image 42B is an image corresponding to the adjacent lane 62B.

For example, in cases in which the display control section 261 of thedisplay control ECU 26 has identified that the vehicle 10 is travelingalong the travel lane 61 based on information acquired from the carnavigation ECU 32 (GPS device 34), the display control section 261controls the display 18 and the HUD 28 such that an host vehicle image55 is displayed on the travel lane image 41. The travel lane image 41includes a first line L1, a second line L2, a third line L3, and afourth line L4 that are located ahead of the host vehicle image 55. Thefirst line L1, the second line L2, the third line L3, and the fourthline L4 all represent positions ahead of the vehicle 10 (host vehicleimage 55). A distance from the vehicle 10 to the second line L2 islonger than a distance from the vehicle 10 to the first line L1, adistance from the vehicle 10 to the third line L3 is longer than adistance from the vehicle 10 to the second line L2, and a distance fromthe vehicle 10 to the fourth line L4 is longer than a distance from thevehicle 10 to the third line L3.

For example, in cases in which the cut-in determination section 362 hasdetermined that the other vehicle 70A is traveling along the adjacentlane 62A and the other vehicle 70B is traveling along the adjacent lane62B based on the information acquired by the sensor group 20, thisdetermination result is transmitted from the ADAS-ECU 36 to the displaycontrol ECU 26. The display control section 261 of the display controlECU 26 therefore controls the display 18 and the HUD 28 such that othervehicle images 50A, 50B corresponding to the other vehicles 70A, 70B aredisplayed overlaid on the corresponding adjacent lane images 42A, 42B onthe display 18 and the display region HA. Furthermore, the cut-indetermination section 362 computes a distance between the vehicle 10 andeach of the other vehicles 70A, 70B based on the information acquiredfrom the sensor group 20 and position information acquired by the GPSdevice 34. This distance-related information is transmitted from theADAS-ECU 36 to the display control ECU 26. On receiving thisdistance-related information, the display control section 261 of thedisplay control ECU 26 adjusts the position of the other vehicle image50A on the adjacent lane image 42A and the position of the other vehicleimage 50B on the adjacent lane image 42B. For example, in cases in whicha distance from the vehicle 10 to the other vehicle 70A is apredetermined short distance, the other vehicle image 50A is displayedsuch that a front-rear position of its rear end is at the same positionas the first line L1 as illustrated in FIG. 5 . In cases in which adistance from the vehicle 10 to the other vehicle 70B is a predeterminedlong distance, the other vehicle image 50B is displayed such that afront-rear position of its rear end is at the same position as the thirdline L3 as illustrated in FIG. 5 .

Operation and Advantageous Effects

Next, description follows regarding operation and advantageous effectsof the present exemplary embodiment.

Explanation follows regarding processing executed by the display controlECU 26 of the vehicle 10, with reference to the flowchart in FIG. 8 .The display control ECU 26 executes the processing of the flowchartillustrated in FIG. 8 each time a predetermined duration has elapsed.

At step S10, the display control section 261 of the display control ECU26 determines whether or not any other vehicles 70A, 70B are travelingin adjacent lanes 62A, 62B based on information received from theADAS-ECU 36.

In this example, a YES determination is made at step S10. The displaycontrol ECU 26 therefore proceeds to step S11 and determines whether ornot either of the other vehicles 70A, 70B is executing a cut-inoperation based on the information received from the ADAS-ECU 36.

In this example, a YES determination is made at step S11. The displaycontrol ECU 26 therefore proceeds to step S12, and determines whether ornot either of the other vehicles 70A, 70B is located at a first positionbased on the information received from the ADAS-ECU 36. The firstposition corresponds to a lane width direction position of the othervehicle 70A, 70B when a vehicle width direction central point of theother vehicle 70A, 70B overlaps a lane width direction central positionof the corresponding adjacent lane 62A, 62B in plan view. A lane widthdirection dimension of the central part of each of the adjacent lanes62A, 62B has a certain length. Namely, the first position is not justone specific point. In cases in which either of the other vehicles 70A,70B is located at the corresponding first position, this other vehicle70A, 70B is spaced apart from a corresponding lane boundary line 63A,63B.

In this example, a determination is made that the other vehicles 70A,70B are located at the respective first positions on the adjacent lanes62A, 62B. The display control ECU 26 therefore proceeds to step S13, andthe display control section 261 displays the other vehicle images 50A,50B overlaid on the corresponding adjacent lane images 42A, 42B asillustrated in FIG. 5 . The other vehicle image 50A is spaced apart froma lane boundary line image 43A, and the other vehicle image 50B isspaced apart from a lane boundary line image 43B at this time.

Furthermore, as illustrated for example in FIG. 5 , the other vehicleimages 50A, 50B are displayed such that the front-rear position of therear end of the other vehicle image 50A is located at the same positionas the first line L1, and the front-rear position of the rear end of theother vehicle image 50B is located at the same position as the thirdline L3 at this time.

On finishing the processing of step S13, the display control ECU 26proceeds to step S14 and determines whether or not the rear end ofeither of the other vehicles 70A, 70B is located at a position (specificposition) corresponding to the first line L1 that is behind a position(predetermined position) corresponding to the second line L2.

In this example, a YES determination is made at step S14. The displaycontrol ECU 26 therefore proceeds to step S15, and displays the othervehicle image 50A corresponding to the other vehicle 70A for which a YESdetermination was made at step S14 in a different color than theremaining other vehicle image 50B. For example, the other vehicle image50B corresponding to the other vehicle 70B for which a NO determinationwas made at step S14 is displayed in gray, whereas the other vehicleimage 50A corresponding to the other vehicle 70A for which a YESdetermination was made at step S14 is displayed in yellow. The color ofthe other vehicle image 50A corresponding to the other vehicle 70A forwhich a YES determination was made at step S14 is preferably a colorthat provides a greater visual stimulus to the driver D than the colorof the other vehicle image 50B corresponding to the other vehicle 70Bfor which a NO determination was made at step S14.

Note that the other vehicle image 50A may continue to be displayed inyellow in cases in which the other vehicle image 50A displayed in yellowhas moved to a second position, described below, while the rear endthereof is still located at a position corresponding to the first lineL1. Alternatively, the other vehicle image 50A may be displayed in grayin cases in which the other vehicle image 50A that was displayed inyellow has moved to the second position while the rear end thereof isstill located at a position corresponding to the first line L1.

On finishing the processing of step S15, the display control ECU 26proceeds to step S16 and determines whether or not either of the othervehicles 70A, 70B is located at the corresponding second position basedon the information received from the ADAS-ECU 36. The second positioncorresponds to a lane width direction position of each of the othervehicles 70A, 70B when a vehicle width direction central portion of theother vehicle 70A, 70B overlaps the corresponding lane boundary line63A, 63B in plan view. A vehicle width direction dimension of thiscentral portion of the other vehicle 70A, 70B has a certain length.Namely, the second position is not just one specific point.

In this example, a determination is made that the other vehicles 70A,70B are located at the respective second positions on the lane boundarylines 63A, 63B. The display control ECU 26 therefore proceeds to stepS17, and the display control section 261 displays the other vehicleimages 50A, 50B overlaid on the lane boundary line images 43A, 43B asillustrated in FIG. 6 .

When this is performed, the display control section 261 displays theother vehicle images 50A, 50B on the display 18 and the display regionHA such that the other vehicle images 50A, 50B representing the othervehicles 70A, 70B move in a discontinuous manner from the respectivefirst positions to the respective second positions. In the presentspecification and the scope of the claims, “the other vehicle images50A, 50B move in a discontinuous manner from the respective firstpositions to the respective second positions” refers to the othervehicle images 50A, 50B that were displayed at positions correspondingto the respective first positions on the adjacent lane images 42A, 42Btemporarily disappearing from the display 18 and the display region HA,and the other vehicle images 50A, 50B then being displayed overlaid onpositions corresponding to the respective second positions on the laneboundary line images 43A, 43B.

At step S17, the display control section 261 displays the other vehicleimages 50A, 50B overlaid on the corresponding adjacent lane images 42A,42B while referencing the front-rear direction positions of the othervehicles 70A, 70B. For example, the display control section 261 displaysthe other vehicle images 50A, 50B overlaid on the corresponding laneboundary line images 43A, 43B such that the rear end of the othervehicle image 50A is located at a position corresponding to the firstline L1, and the rear end of the other vehicle image 50B is located at aposition corresponding to the third line L3.

On finishing the processing of step S17, the display control ECU 26proceeds to step S18 and determines whether or not the other vehicles70A, 70B are located at a third position (cut-in position) on the travellane 61 based on the information received from the ADAS-ECU 36. Thethird position corresponds to a lane width direction position where theother vehicles 70A, 70B are located between the lane boundary line 63Aand the lane boundary line 63B and are spaced apart from the laneboundary line 63A and the lane boundary line 63B in plan view. Namely,the third position is not just one specific point.

In this example, a determination is made that the other vehicles 70A,70B are located at the third position on the travel lane 61, and thedisplay control ECU 26 proceeds to step S19. As illustrated in FIG. 7 ,the display control section 261 displays the other vehicle images 50A,50B overlaid on the travel lane image 41 while referencing thefront-rear direction positions of the other vehicles 70A, 70B. Forexample, the display control section 261 displays the other vehicleimages 50A, 50B overlaid on the travel lane image 41 such that the rearend of the other vehicle image 50A is located at a positioncorresponding to the first line L1, and the rear end of the othervehicle image 50B is located at a position corresponding to the thirdline L3.

When this is performed, the display control section 261 displays theother vehicle images 50A, 50B on the display 18 and the display regionHA such that the other vehicle images 50A, 50B representing the othervehicles 70A, 70B move in a discontinuous manner from the respectivesecond positions to the third position. In the present specification andthe scope of the claims, “the other vehicle images 50A, 50B move in adiscontinuous manner from the respective second positions to the thirdposition” refers to the other vehicle images 50A, 50B that weredisplayed overlaid on positions corresponding to the respective secondpositions on the corresponding lane boundary lines 63A, 63B temporarilydisappearing from the display 18 and the display region HA, and theother vehicle images 50A, 50B then being displayed overlaid on positionscorresponding to the third position on the travel lane image 41.

On finishing the processing of step S19, the display control ECU 26proceeds to step S20 and determines whether or not the ADAS-ECU 36 isexecuting tracking control (ACC or CACC) based on the informationreceived from the ADAS-ECU 36.

In this example, a YES determination is made at step S20. The displaycontrol ECU 26 therefore proceeds to step S21, and determines whether ornot either of the other vehicles 70A, 70B corresponding to the othervehicle images 50A, 50B displayed on the travel lane image 41corresponds to a preceding vehicle from the perspective of the vehicle10, based on the information received from the ADAS-ECU 36.

In this example, a YES determination is made at step S21. The displaycontrol ECU 26 therefore proceeds to step S22, and displays the othervehicle image 50A corresponding to the other vehicle 70A for which theYES determination was made at step S21 in a different color than theremaining other vehicle image 50B. For example, the other vehicle image50B corresponding to the other vehicle 70B for which a NO determinationwas made at step S21 is displayed in gray, and the other vehicle image50A corresponding to the other vehicle 70A for which a YES determinationwas made at step S21 is displayed in white. The color of the othervehicle image 50A corresponding to the other vehicle 70A for which a YESdetermination was made at step S21 is preferably a color that provides agreater visual stimulus to the driver D than the color of the othervehicle image 50B corresponding to the other vehicle 70B for which a NOdetermination was made.

In cases in which a NO determination is made at steps S10, S11, S12,S16, S18, S20, or S21, and when the processing of step S22 is ended, thedisplay control ECU 26 ends the current round of processing in theflowchart in FIG. 8 .

As described above, in cases in which the other vehicles 70A, 70Btraveling along the adjacent lanes 62A, 62B are executing cut-inoperations to move from the corresponding adjacent lanes 62A, 62B tocut-in positions on the travel lane 61, the display 18 and the HUD 28perform display such that the other vehicle images 50A, 50B are moved ina discontinuous manner from the respective first positions on theadjacent lane images 42A, 42B to the respective second positions on thelane boundary line images 43A, 43B. It is therefore easy for the driverD viewing the other vehicle images 50A, 50B to identify that the othervehicles 70A, 70B traveling along the adjacent lanes 62A, 62B areexecuting cut-in operations. It is easier for the driver D to identifythat the other vehicles 70A, 70B are executing cut-in operations thanfor example cases in which the other vehicle images 50A, 50B aredisplayed so as to move in a continuous manner from the respective firstpositions to the respective second positions.

Furthermore, in cases in which the other vehicles 70A, 70B are executingcut-in operations, the display 18 and the HUD 28 perform display suchthat the other vehicle images 50A, 50B are moved in a discontinuousmanner from the respective second positions to the third positioncorresponding to cut-in positions on the travel lane image 41. It istherefore easy for the driver D viewing the other vehicle images 50A,50B to identify that the other vehicles 70A, 70B traveling along theadjacent lanes 62A, 62B are executing cut-in operations. It is easierfor the driver D to identify that the other vehicles 70A, 70B areexecuting cut-in operations than for example cases in which the othervehicle images 50A, 50B are displayed so as to move in a continuousmanner from the respective second positions to the third position.

Furthermore, only the other vehicle images 50A, 50B representing theother vehicles 70A, 70B that the ADAS-ECU 36 (cut-in determinationsection 362) has determined might be executing (are executing) cut-inoperations are displayed on the display 18 and the HUD 28. This is lesslikely to annoy the driver D than cases in which other vehicle imagesrepresenting all the other vehicles traveling along the adjacent lanes62A, 62B are displayed on the display 18 and the HUD 28.

Furthermore, the other vehicle images 50A, 50B representing the othervehicles 70A, 70B located on the adjacent lanes 62A, 62B are eachdisplayed at one position from amongst plural positions corresponding tothe first line L1, the second line L2, the third line L3, and the fourthline L4 that are set in a row along the front-rear direction (along theextension direction of the adjacent lane images 42A, 42B) on theadjacent lane images 42A, 42B. The driver D viewing the other vehicleimages 50A, 50B is therefore able to identify the front-rear directionpositions of the other vehicles 70A, 70B that might execute cut-inoperations.

Furthermore, in cases in which either of the other vehicle images 50A,50B representing the other vehicles 70A, 70B is at a position on thecorresponding adjacent lane 62A, 62B corresponding to the first line L1,this other vehicle image 50A, 50B is displayed in a different format(color) than in cases in which the other vehicle image 50A, 50B islocated on any line out of the second line L2 to the fourth line L4. Insuch cases, there is only a short front-rear direction distance betweenthe other vehicle 70A, 70B corresponding to the other vehicle image 50A,50B and the vehicle 10, and so sufficient attention needs to be paid tothe cut-in operation by this other vehicle 70A, 70B. Since the othervehicle image 50A, 50B corresponding to this other vehicle 70A, 70B isdisplayed in yellow, the driver D viewing the other vehicle images 50A,50B is able to pay sufficient attention to this cut-in operation by thisother vehicle 70A, 70B.

Furthermore, in cases in which the ADAS-ECU 36 (driving assistancecontrol section 361) has determined that either of the other vehicles70A, 70B moving from the adjacent lanes 62A, 62B to the travel lane 61is a preceding vehicle from the perspective of the vehicle 10 whileexecuting tracking control, the display 18 and the HUD 28 performdisplay such that this other vehicle image 50A, 50B is displayed in adifferent format (white) than the other vehicle image 50A, 50B that isnot the preceding vehicle. The driver D viewing the other vehicle images50A, 50B is thereby able to identify whether or not either of the othervehicles 70A, 70B corresponding to the other vehicle images 50A, 50B isthe preceding vehicle from the perspective of the vehicle 10.

Although a vehicular display control device, a vehicular display device,a vehicle, a vehicular display control method, and a non-transitoryrecording medium according to an exemplary embodiment have beendescribed above, various design modifications may be applied asappropriate to the vehicular display control device, the vehiculardisplay device, the vehicle, the vehicular display control method, andthe non-transitory recording medium within a range not departing fromthe scope of the present disclosure.

For example, a configuration may be applied in which the vehicle 10 isnot equipped with at least one display out of the display 18 or thedisplay region HA.

A configuration may be applied in which only one display out of thedisplay 18 or the display region HA displays the road image 40, theother vehicle images 50A, 50B, and the host vehicle image 55.

A configuration may be applied in which at least one display out of thedisplay 18 or the display region HA displays the road image 40 and theother vehicle images 50A, 50B as shapes representing the road and theother vehicles when viewed in plan view.

A configuration may be applied in which the other vehicle images 50A,50B are displayed in yellow in cases in which the other vehicles 70A,70B have moved to the respective second positions, without displayingthe other vehicle images 50A, 50B in yellow in cases in which the othervehicles 70A, 70B are located at the respective first positions.

In cases in which either of the other vehicle images 50A, 50Brepresenting the other vehicles 70A, 70B is located at a positioncorresponding to the first line L1 on the corresponding adjacent lane62A, 62B, this other vehicle image 50A, 50B may be displayed in adifferent color than yellow and in a different format than in cases inwhich the other vehicle image 50A, 50B is located at a positioncorresponding to any line out of the second line L2 to the fourth lineL4. For example, in such cases, this other vehicle image 50A, 50B may bedisplayed as a flashing image.

The “specific position” in the scope of the claims may be a positioncorresponding to any line out of the first line L1 or the second lineL2, or may be a position corresponding to any line out of the first lineL1, the second line L2, or the third line L3.

The number of lines displayed on the travel lane image 41 may be aplural number other than four.

The other vehicle image 50A, 50B that is the preceding vehicle may bedisplayed in a different color than white and in a different format thanthe other vehicle image 50A, 50B that is not the preceding vehicle. Forexample, this other vehicle image 50A, 50B may be displayed as aflashing image.

What is claimed is:
 1. A vehicular display control device, comprising aprocessor, wherein, in a case in which an other-vehicle traveling alongan adjacent lane, which is adjacent to a travel lane of a host vehicle,is executing a cut-in operation to move from the adjacent lane to acut-in position ahead of the host vehicle in the travel lane, theprocessor is configured to control a display section configured todisplay a travel lane image representing the travel lane, an adjacentlane image representing the adjacent lane, a lane boundary line imagerepresenting a lane boundary line defining a boundary between the travellane and the adjacent lane, and an other-vehicle image representing theother-vehicle, such that the display section causes the other-vehicleimage to move in a discontinuous manner from a first position on theadjacent lane image to a second position on the lane boundary lineimage.
 2. The vehicular display control device of claim 1, wherein theprocessor is configured to control the display section when theother-vehicle is executing the cut-in operation such that theother-vehicle image moves in a discontinuous manner from the secondposition to a third position corresponding to the cut-in position on thetravel lane image.
 3. The vehicular display control device of claim 1,wherein the processor is configured to cause the display section todisplay the other-vehicle image in a case in which a determination ismade that the other-vehicle might execute the cut-in operation based onbehavior of the other-vehicle traveling along the adjacent lane.
 4. Thevehicular display control device of claim 1, wherein the processor isconfigured to control the display section so as to display theother-vehicle image representing the other-vehicle located on theadjacent lane and ahead of the host vehicle at one of a plurality ofpositions arranged in a row along a front-rear direction on the adjacentlane image.
 5. The vehicular display control device of claim 4, wherein,in a case in which the other-vehicle image is located at a specificposition rearward of a predetermined position among the plurality ofpositions and is located at least at one of the first position or thesecond position, the processor is configured to control the displaysection such that the other-vehicle image located at the specificposition is displayed in a different format than in a case in which theother-vehicle image is located at a different position from the specificposition.
 6. The vehicular display control device of claim 1, wherein,in a case in which a determination is made that the other-vehicle movingfrom the adjacent lane to the travel lane is a preceding vehicle fromthe perspective of the host vehicle while executing tracking control,the processor is configured to control the display section such that theother-vehicle image representing the other-vehicle determined to be apreceding vehicle is displayed in a different format from theother-vehicle image in a case in which the other-vehicle has not beendetermined to be a preceding vehicle.
 7. A vehicular display device,comprising: the display section; and the vehicular display controldevice of claim
 1. 8. A vehicle, comprising the vehicular display deviceof claim
 7. 9. A vehicular display control method, comprising: in a casein which an other-vehicle traveling along an adjacent lane, which isadjacent to a travel lane of a host vehicle, is executing a cut-inoperation to move from the adjacent lane to a cut-in position ahead ofthe host vehicle on the travel lane, controlling a display sectionconfigured to display a travel lane image representing the travel lane,an adjacent lane image representing the adjacent lane, a lane boundaryline image representing a lane boundary line defining a boundary betweenthe travel lane and the adjacent lane, and an other-vehicle imagerepresenting the other-vehicle, such that the display section causes theother-vehicle image to move in a discontinuous manner from a firstposition on the adjacent lane image to a second position on the laneboundary line image.
 10. A non-transitory recording medium storing aprogram that is executable by a computer to execute processing, theprocessing comprising: in a case in which an other-vehicle travelingalong an adjacent lane, which is adjacent to a travel lane of a hostvehicle, is executing a cut-in operation to move from the adjacent laneto a cut-in position ahead of the host vehicle on the travel lane,controlling a display section configured to display a travel lane imagerepresenting the travel lane, an adjacent lane image representing theadjacent lane, a lane boundary line image representing a lane boundaryline defining a boundary between the travel lane and the adjacent lane,and an other-vehicle image representing the other-vehicle, such that thedisplay section causes the other-vehicle image to move in adiscontinuous manner from a first position on the adjacent lane image toa second position on the lane boundary line image.